\hypertarget{class_simple_grasping}{\section{Simple\-Grasping Class Reference}
\label{class_simple_grasping}\index{Simple\-Grasping@{Simple\-Grasping}}
}
\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hyperlink{class_simple_grasping_a2378696c46e6f023d5032919b1af8fad}{Simple\-Grasping} (ros\-::\-Node\-Handle n\-\_\-, float pregrasp\-\_\-x, float pregrasp\-\_\-y, float pregrasp\-\_\-z, float length=1, float breadth=0.\-6)
\begin{DoxyCompactList}\small\item\em \hyperlink{class_simple_grasping}{Simple\-Grasping} behaviour Constructor. \end{DoxyCompactList}\item 
void \hyperlink{class_simple_grasping_a133954726ab489d9c5d7c20b4504eb82}{image\-Cb} (const sensor\-\_\-msgs\-::\-Image\-Const\-Ptr \&msg)
\begin{DoxyCompactList}\small\item\em image\-Cb is called when a new image is received from the camera \end{DoxyCompactList}\item 
\hypertarget{class_simple_grasping_adb6d0c8e6d4f0668c212181bb82cf8ff}{void \hyperlink{class_simple_grasping_adb6d0c8e6d4f0668c212181bb82cf8ff}{initiate\-Grasping} ()}\label{class_simple_grasping_adb6d0c8e6d4f0668c212181bb82cf8ff}

\begin{DoxyCompactList}\small\item\em initiate\-Grasping initiates the grasping behaviour \end{DoxyCompactList}\item 
\hypertarget{class_simple_grasping_a771b6bba25730dbaf2ff72a4bd6938a1}{void \hyperlink{class_simple_grasping_a771b6bba25730dbaf2ff72a4bd6938a1}{go\-Home} ()}\label{class_simple_grasping_a771b6bba25730dbaf2ff72a4bd6938a1}

\begin{DoxyCompactList}\small\item\em Function brings the arm back to home configuration. \end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Constructor \& Destructor Documentation}
\hypertarget{class_simple_grasping_a2378696c46e6f023d5032919b1af8fad}{\index{Simple\-Grasping@{Simple\-Grasping}!Simple\-Grasping@{Simple\-Grasping}}
\index{Simple\-Grasping@{Simple\-Grasping}!SimpleGrasping@{Simple\-Grasping}}
\subsubsection[{Simple\-Grasping}]{\setlength{\rightskip}{0pt plus 5cm}Simple\-Grasping\-::\-Simple\-Grasping (
\begin{DoxyParamCaption}
\item[{ros\-::\-Node\-Handle}]{n\-\_\-, }
\item[{float}]{pregrasp\-\_\-x, }
\item[{float}]{pregrasp\-\_\-y, }
\item[{float}]{pregrasp\-\_\-z, }
\item[{float}]{length = {\ttfamily 1}, }
\item[{float}]{breadth = {\ttfamily 0.6}}
\end{DoxyParamCaption}
)}}\label{class_simple_grasping_a2378696c46e6f023d5032919b1af8fad}


\hyperlink{class_simple_grasping}{Simple\-Grasping} behaviour Constructor. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em n\-\_\-} & ros\-\_\-\-Node\-Handle \\
\hline
\mbox{\tt in}  & {\em pregrasp\-\_\-x} & Desired Pregrasping\-X \\
\hline
\mbox{\tt in}  & {\em pregrasp\-\_\-y} & Desired Pregrasping\-Y \\
\hline
\mbox{\tt in}  & {\em pregrasp\-\_\-z} & Desired Pregrasping\-Z \\
\hline
\mbox{\tt in}  & {\em length} & The length of table \\
\hline
\mbox{\tt in}  & {\em breadth} & The breadth of table \\
\hline
\end{DoxyParams}


\subsection{Member Function Documentation}
\hypertarget{class_simple_grasping_a133954726ab489d9c5d7c20b4504eb82}{\index{Simple\-Grasping@{Simple\-Grasping}!image\-Cb@{image\-Cb}}
\index{image\-Cb@{image\-Cb}!SimpleGrasping@{Simple\-Grasping}}
\subsubsection[{image\-Cb}]{\setlength{\rightskip}{0pt plus 5cm}void Simple\-Grasping\-::image\-Cb (
\begin{DoxyParamCaption}
\item[{const sensor\-\_\-msgs\-::\-Image\-Const\-Ptr \&}]{msg}
\end{DoxyParamCaption}
)}}\label{class_simple_grasping_a133954726ab489d9c5d7c20b4504eb82}


image\-Cb is called when a new image is received from the camera 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em msg} & Image received as a message \\
\hline
\end{DoxyParams}


The documentation for this class was generated from the following files\-:\begin{DoxyCompactItemize}
\item 
Simple\-Robot\-Arm\-Grasping/robotarm\-\_\-grasping/include/robotarm\-\_\-grasping/\hyperlink{_simple_grasping_8h}{Simple\-Grasping.\-h}\item 
Simple\-Robot\-Arm\-Grasping/robotarm\-\_\-grasping/src/\hyperlink{_simple_grasping_8cpp}{Simple\-Grasping.\-cpp}\end{DoxyCompactItemize}
